A Learning Algorithm for Parameters of Automatic Disturbances Rejection Controller
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摘要: 针对自抗扰控制器(Automatic disturbance rejection controller,ADRC)参数多且耦合性强,参数难于被确定的问题,提出了一种ADRC参数的自动调整算法. 该算法以构造的控制性能函数为学习目标,根据参数对性能指标的影响,通过惩罚函数在线不断更新参数在有界区间内的概率密度分布,使得控制参数最优值的概率密度值最大. 通过开环不稳定系统算例和对工业机电驱动器单元(Industrial mechatronic drives unit,IMDU)的控制实验,仿真和实验结果证明了该算法的有效性.Abstract: Considering the special characteristics of the automatic disturbance rejection controller (ADRC), with emphasis on the parameters and strong coupling among them, an algorithm is presented in this paper for tuning the parameters of the ADRC automatically. Aiming at the minimization of the control performance function, the algorithm learns an optimal set of controller parameter values of the ADRC by cost function, updating each parameter of the controller within a bounded interval probability density distribution constantly and making the probability density of the optimal control parameter maximum. The algorithm is applied to an open-loop unstable system and the industrial mechatronic drives unit (IMDU), the results of simulation and experiment show its validity.
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